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Ratio of annual increase shares reserved for issuance under ESPP to number of shares of common stock outstanding.

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Shares reserved for issuance under Employee Stock Purchase Plan.

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Stock issued during period, shares, employee benefit plan net of shares withheld for taxes.

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Aggregate number of common shares reserved for future issuance.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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Amount of cost to be recognized for option under share-based payment arrangement.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Number of additional shares authorized for issuance under share-based payment arrangement.

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The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Description of terms of award under share-based payment arrangement.

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Intrinsic value of vested award under share-based payment arrangement. Excludes share and unit options.

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Number of shares used to settle grantee's tax withholding obligation for award under share-based payment arrangement.

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Number of shares issued during the period to an employee benefit plan, such as a defined contribution or defined benefit plan.

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Share-based Compensation Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions	1 Months Ended		12 Months Ended
	Jan. 31, 2023	Jan. 31, 2022	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued, payment for employee bonuses, net of shares withheld for taxes			397,951	81,534
Weighted average grant-date fair values of options granted			$ 1.78	$ 2.2
Unrecognized share-based compensation expense related to stock options			$ 3.6
Weighted average period of unrecognized share-based compensation expense			4 years 8 months 12 days
Intrinsic value of shares vested			$ 1.7
Stock option exercises			105,187	258,648
Shares issued, vesting of non-vested stock			175,196	60,595
Shares issued, payment for employee bonuses			603,830	125,199
Shares issued, withheld to cover taxes			205,879	43,665
Unrecognized share-based compensation expense related to non-vested shares			$ 0.8
Intrinsic value of options excercised			$ 0.2
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option grants, term			10-year
Weighted average period of unrecognized share-based compensation expense			1 year 10 months 24 days
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option exercises				258,648
Shares issued, vesting of non-vested stock			175,196	60,595
Shares issued, payment for employee bonuses			603,830	125,199
Maximum \| Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option, vesting period			4 years
Minimum \| Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock option, vesting period			3 years
2018 EIP \| Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for grant			0
2018 EIP \| Maximum \| Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for grant			13,900,000
2021 EIP
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for grant			6,100,000
Shares reserved for issuance			8,800,000
2021 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of shares of company's common stock outstanding			4.00%
Additional number of shares authorised in share pool	1,400,000	1,300,000
Shares reserved for issuance under ESPP			1,000,000
2021 Employee Stock Purchase Plan \| Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for issuance under ESPP			3,500,000
Ratio of annual increase shares reserved for issuance under ESPP to number of shares of common stock outstanding			1.00%
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares issued			39,340